Motion simulation of robot for nuclear reactor pressure vessel non-destructive detection based on SoftMotion

Abstract

Reactor pressure vessels, as the most important security barrier for nuclear power plant safety, are the only part of nuclear power plant that cannot be replaced during the whole life. The security of the vessels is very important for the safety of nuclear power. The nuclear reactor pressure vessels NDT robots are very important equipments. The detection process for these pressure vessels using the robots requires absolute safety, so it is necessary to simulate the nuclear reactor pressure vessel NDT robot and verify the feasibility. In this paper, physical modeling, the D-H rule modeling, kinematics modeling and simulation for the nuclear reactor pressure vessel NDT robots are implemented and verified with joint simulation and MATLAB.